diff --git a/platforms/common/uORB/ORBSet.hpp b/platforms/common/uORB/ORBSet.hpp
index aed38dbc8f6..28e283c7b9e 100644
--- a/platforms/common/uORB/ORBSet.hpp
+++ b/platforms/common/uORB/ORBSet.hpp
@@ -37,14 +37,12 @@ class ORBSet
 {
 public:
 	struct Node {
-		struct Node *next;
-		const char *node_name;
+		Node *next{nullptr};
+		const char *node_name{nullptr};
 	};
 
-	ORBSet() :
-		_top(nullptr),
-		_end(nullptr)
-	{ }
+	ORBSet() = default;
+
 	~ORBSet()
 	{
 		while (_top != nullptr) {
@@ -52,11 +50,14 @@ public:
 
 			if (_top->next == nullptr) {
 				free((void *)_top->node_name);
-				free(_top);
+				_top->node_name = nullptr;
+
+				delete _top;
 				_top = nullptr;
 			}
 		}
 	}
+
 	void insert(const char *node_name)
 	{
 		Node **p;
@@ -68,7 +69,7 @@ public:
 			p = &_end->next;
 		}
 
-		*p = (Node *)malloc(sizeof(Node));
+		*p = new Node();
 
 		if (_end) {
 			_end = _end->next;
@@ -102,8 +103,13 @@ public:
 
 		if (_top && (strcmp(_top->node_name, node_name) == 0)) {
 			p = _top->next;
-			free((void *)_top->node_name);
-			free(_top);
+
+			if (_top->node_name) {
+				free((void *)_top->node_name);
+				_top->node_name = nullptr;
+			}
+
+			delete _top;
 			_top = p;
 
 			if (_top == nullptr) {
@@ -135,11 +141,17 @@ private:
 			}
 
 			a->next = b->next;
-			free((void *)b->node_name);
-			free(b);
+
+			if (b->node_name) {
+				free((void *)b->node_name);
+				b->node_name = nullptr;
+			}
+
+			delete b;
+			b = nullptr;
 		}
 	}
 
-	Node *_top;
-	Node *_end;
+	Node *_top{nullptr};
+	Node *_end{nullptr};
 };
diff --git a/platforms/common/uORB/uORBManager.cpp b/platforms/common/uORB/uORBManager.cpp
index 0634c4e253f..1dce82b3196 100644
--- a/platforms/common/uORB/uORBManager.cpp
+++ b/platforms/common/uORB/uORBManager.cpp
@@ -120,7 +120,12 @@ int	uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)
 			orbiocdevexists_t *data = (orbiocdevexists_t *)arg;
 
 			if (data->check_advertised) {
-				data->ret = uORB::Manager::orb_exists(get_orb_meta(data->orb_id), data->instance);
+				if (uORB::Manager::get_instance()) {
+					data->ret = uORB::Manager::get_instance()->orb_exists(get_orb_meta(data->orb_id), data->instance);
+
+				} else {
+					data->ret = PX4_ERROR;
+				}
 
 			} else {
 				data->ret = uORB::Manager::orb_device_node_exists(data->orb_id, data->instance) ? PX4_OK : PX4_ERROR;
@@ -130,7 +135,7 @@ int	uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)
 
 	case ORBIOCDEVADVERTISE: {
 			orbiocdevadvertise_t *data = (orbiocdevadvertise_t *)arg;
-			uORB::DeviceMaster *dev =  uORB::Manager::get_instance()->get_device_master();
+			uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();
 
 			if (dev) {
 				data->ret = dev->advertise(data->meta, data->is_advertiser, data->instance);
@@ -230,6 +235,10 @@ int	uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)
 
 int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 {
+	if (meta == nullptr) {
+		return PX4_ERROR;
+	}
+
 	int ret = PX4_ERROR;
 
 	// instance valid range: [0, ORB_MULTI_MAX_INSTANCES)
@@ -237,7 +246,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 		return ret;
 	}
 
-	uORB::DeviceMaster *dev =  uORB::Manager::get_instance()->get_device_master();
+	uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();
 
 	if (dev) {
 		uORB::DeviceNode *node = dev->getDeviceNode(meta, instance);
@@ -266,8 +275,10 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 
 	ret = px4_access(path, F_OK);
 
-	if (ret == -1 && meta != nullptr && !_remote_topics.empty()) {
-		ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : PX4_ERROR;
+	if (ret == -1) {
+		if (_remote_topics.find(meta->o_name)) {
+			ret = 0;
+		}
 	}
 
 	if (ret == 0) {
@@ -709,12 +720,9 @@ int16_t uORB::Manager::process_received_message(const char *messageName, int32_t
 
 bool uORB::Manager::is_remote_subscriber_present(const char *messageName)
 {
-#ifdef __PX4_NUTTX
 	return _remote_subscriber_topics.find(messageName);
-#else
-	return (_remote_subscriber_topics.find(messageName) != _remote_subscriber_topics.end());
-#endif
 }
+
 #endif /* ORB_COMMUNICATOR */
 
 #ifdef ORB_USE_PUBLISHER_RULES
diff --git a/platforms/common/uORB/uORBManager.hpp b/platforms/common/uORB/uORBManager.hpp
index 3546adc4de5..1fbc779da1e 100644
--- a/platforms/common/uORB/uORBManager.hpp
+++ b/platforms/common/uORB/uORBManager.hpp
@@ -41,15 +41,8 @@
 #include <uORB/topics/uORBTopics.hpp> // For ORB_ID enum
 #include <stdint.h>
 
-#ifdef __PX4_NUTTX
-#include "ORBSet.hpp"
-#else
-#include <string>
-#include <set>
-#define ORBSet std::set<std::string>
-#endif
-
 #ifdef ORB_COMMUNICATOR
+#include "ORBSet.hpp"
 #include "uORBCommunicator.hpp"
 #endif /* ORB_COMMUNICATOR */